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基于混合模糊P+ID控制的欠驱动AUV路径跟踪控制及仿真
Alternative TitlePath–following Control and Simulation of Underactuated Autonomous Underwater Vehicles Based on Fuzzy P plus ID Control
田宇; 张艾群; 李伟
Department水下机器人研究室
Source Publication系统仿真学报
ISSN1004-731X
2012
Volume24Issue:5Pages:1016-1020,1025
Indexed ByCSCD
CSCD IDCSCD:4538738
Contribution Rank1
Funding Organization国家863高技术研究发展计划(2007AA09Z207); 机器人学国家重点实验室课题(08A120N201,RLZ200810)
Keyword自主水下机器人 欠驱动 路径跟踪控制 混合模糊p+id控制
Abstract针对欠驱动自主水下机器人(AUV)水平面路径跟踪控制问题进行研究。基于解析形式描述的单输入模糊控制器,提出了一种混合模糊P+ID控制算法。将其应用于欠驱动AUV路径跟踪控制中的趋近角跟踪控制,研究了控制器设计和参数调节方法,并采用小增益定理对基于混合模糊P+ID控制的趋近角跟踪控制系统的稳定性进行了分析。最后,采用欠驱动AUV非线性动力学模型进行仿真研究,结果表明基于提出的混合模糊P+ID控制的欠驱动AUV路径跟踪控制系统具有很好的鲁棒性和适应性,AUV能够精确跟踪预规划的航行路径。
Other AbstractThe issue of 2D path-following control of underactuated autonomous underwater vehicles was studied. Based on single-input fuzzy controller expressed in analytical form, a hybrid fuzzy P plus ID control algorithm was proposed. And its application to the tracking control of path-following approach angle was investigated. The design and parameter tuning of the tracking controller was studied, and the stability of the tracking control system based on the proposed hybrid fuzzy P plus ID control algorithm was analyzed using small gain theorem. At last, simulation studies using the nonlinear dynamic model of an underactuated AUV were implemented, and the results demonstrate the robustness and adaptability of the hybrid fuzzy P plus ID based path-following control system, and the AUV can follow the predefined path precisely.
Language中文
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/9977
Collection水下机器人研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院研究生院
Recommended Citation
GB/T 7714
田宇,张艾群,李伟. 基于混合模糊P+ID控制的欠驱动AUV路径跟踪控制及仿真[J]. 系统仿真学报,2012,24(5):1016-1020,1025.
APA 田宇,张艾群,&李伟.(2012).基于混合模糊P+ID控制的欠驱动AUV路径跟踪控制及仿真.系统仿真学报,24(5),1016-1020,1025.
MLA 田宇,et al."基于混合模糊P+ID控制的欠驱动AUV路径跟踪控制及仿真".系统仿真学报 24.5(2012):1016-1020,1025.
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